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EP2503360B1 - Procédé de détection optique d'objets au moins partiellement transparents - Google Patents

Procédé de détection optique d'objets au moins partiellement transparents Download PDF

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Publication number
EP2503360B1
EP2503360B1 EP11002497.3A EP11002497A EP2503360B1 EP 2503360 B1 EP2503360 B1 EP 2503360B1 EP 11002497 A EP11002497 A EP 11002497A EP 2503360 B1 EP2503360 B1 EP 2503360B1
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EP
European Patent Office
Prior art keywords
sensor
procedure
accordance
illuminance
light
Prior art date
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Application number
EP11002497.3A
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German (de)
English (en)
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EP2503360A1 (fr
Inventor
Volker Preuss
Klaus Friedrich Müller
Walter Hochgenug
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Baumer Electric AG
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Baumer Electric AG
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Application filed by Baumer Electric AG filed Critical Baumer Electric AG
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V8/00—Prospecting or detecting by optical means
    • G01V8/10—Detecting, e.g. by using light barriers
    • G01V8/12—Detecting, e.g. by using light barriers using one transmitter and one receiver
    • G01V8/14—Detecting, e.g. by using light barriers using one transmitter and one receiver using reflectors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/04—Systems determining the presence of a target

Definitions

  • the invention relates to a method for optically determining the presence or absence of a transparent object by means of the passage of light.
  • a reflector behind the area in which the transparent object can be located is illuminated by means of a light source and the returning illuminance is measured. Even with objects with high transmission in the respective wavelength range, for example clear glass, a part is formed at the boundary surfaces of the light is reflected in different directions and therefore does not fall on the sensor.
  • the disadvantage of this measuring method is that a reflector has to be attached behind the object to be detected so that the signal level for the evaluation of small differences and a differentiation of undesired reflections on the object to be detected is possible.
  • the process mentioned is also often used in the filling and production of foodstuffs and cleaning agents.
  • the measuring components can be exposed to steam and aggressive cleaning agents.
  • the reflectors are vulnerable and either have to be inserted into a housing or replaced regularly.
  • system-related incorrect measurements can occur. If a reflective object is present in the beam path, this can lead to, for example, the attenuation of the light intensity by the object to be detected transparent object is compensated by the fact that light which is not reflected by the reflector falls on the sensor through another reflective object or even under certain circumstances through reflections on the object to be detected itself. In such a case, no switching signal is generated although a transparent object is in the detection area.
  • the invention is based on the object of providing a method for the optical detection of transparent objects in which the disadvantages of the prior art are at least reduced.
  • Another object of the invention is to increase the reliability of the detection of transparent objects.
  • the object of the invention is achieved by a method for the optical detection of at least partially transparent objects according to claim 1.
  • the invention relates to the detection of transparent objects, such as bottles, glasses, packaging, etc. passing by in a production plant.
  • transparent objects such as bottles, glasses, packaging, etc. passing by in a production plant.
  • At least partially transparent is understood to mean objects that are at least partially transparent to the light used. It is therefore also conceivable to use the invention for objects which are colored but still have sufficient transmission.
  • the light beam from a light source is reflected and / or remitted via a reference surface onto a spatially resolving sensor, the at least partially transparent object to be detected being at least temporarily in the light beam in front of the reference surface.
  • the reference surface is designed as a reflective and / or remitting surface.
  • the reference area can in particular be designed as a metal plate of a piece of furniture or furniture.
  • a light beam is therefore emitted which shines through the transparent objects to be detected.
  • the light from the reference surface which is located behind the object to be detected, is reflected back onto a spatially resolving sensor and, in particular, is imaged onto the sensor by means of optics, for example a lens.
  • the reference surface does not have to be a reflector attached for this purpose, but almost any reflective and / or remitting surface can be used, as will be explained in more detail below.
  • the illuminance and the local distribution of the light are measured by the spatially resolving sensor. This is done, for example, by evaluating the pixels of a sensor.
  • the triangulation principle is used to determine the distance from the point of reflection by means of the light falling on the sensor based on the local distribution of the illuminance.
  • the distance to the object can be determined based on the intensity distribution of the light. In this way, possibly existing portions of light that are reflected by other objects can be calculated.
  • the measuring method is therefore less susceptible to interference, since reflecting objects entering the measuring area, such as dust, shards, etc., can be excluded due to the different distance of the incident light.
  • the presence or absence of the at least partially transparent object is now determined on the basis of the illuminance of individual pixels and the local distribution of the illuminance and the distance of the location of the reflecting and / or remitting light of the light beam that hits the sensor.
  • already existing reflective surfaces such as the metal plates of a piece of furniture or furniture, in particular stainless steel surfaces in the kitchen and system area, can be used as reference surfaces. This is possible in particular in that, according to the invention, the distance between the reference surface and the sensor is determined.
  • the reference area is the area which reflects and / or remits the light.
  • the method comprises a measuring cycle, within which a light source is switched on to generate the light beam, and a calibration cycle in which the light source is switched off.
  • a measuring cycle within which a light source is switched on to generate the light beam
  • a calibration cycle in which the light source is switched off.
  • light that is not generated by the light source can be detected and this can be subtracted from an output signal to be evaluated.
  • the influence of extraneous light can thus be reduced.
  • Due to the changing light conditions of the external light the level of the useful signal can still be shifted continuously.
  • a further development of the invention therefore provides that the level of a brightest pixel of the sensor is used as a reference level to determine whether it is present or not, and the signal distances between adjacent pixels are used for evaluation. Compared to the independent evaluation of the individual pixels of the sensor, the effects of scattered light and extraneous light can be further reduced.
  • An optical sensor with an at least one-dimensional detector array is preferably used as the sensor.
  • a line sensor can be used.
  • CMOS sensors which are attached to a circuit board together with the evaluation electronics.
  • sensors with a line length of 32 to 1024 pixels are used.
  • a line sensor with the help of which the distance of the reflection location in relation to a plane can be determined, is sufficient for most requirements.
  • an area sensor as the sensor, by means of which the distance from reflective objects can be detected three-dimensionally in space.
  • the sensor is preferably arranged in a common housing with the light source.
  • a hermetically sealed housing is used in which the sensor and light source can also be encapsulated.
  • a laser or an LED can be used as the light source.
  • LEDs can be easily accommodated as a compact structural unit in a housing.
  • Lasers with a high light output can also be used, in particular if measurements are to be carried out over longer distances.
  • the measurement method is suitable for any wavelength.
  • a detection area can be defined by defining a minimum distance and / or a maximum distance from a reflective surface.
  • a detection area is understood to mean the area that lies in a distance window from which the reflected light that is mapped onto the sensor originates.
  • a switching signal can be generated by means of the method according to the invention.
  • the invention also relates to the use of a light source and an optical sensor with an at least one-dimensional detector array for detecting at least partially transparent objects. Look at the strength and local distribution of the light emitted by the light source and reflected from a reflective surface and onto the sensor, the presence or absence of an object is determined.
  • the distance, determined on the basis of the distribution, of an object illuminated by the light source which reflects light onto the sensor is included.
  • Fig.1 shows, shown schematically, the basic principle of the invention.
  • a light beam 7 is directed onto a reference surface 6 via a light source 1, for example an LED light source.
  • the light beam 7 generates a point of light on the reference surface 6, which can be, for example, a stainless steel surface that is already present, which is imaged onto a sensor 2 via a lens 3.
  • the sensor 2 is a CMOS line sensor.
  • Light source 1, sensor 2 and lens 3 are preferably arranged in a hermetically sealed housing 4.
  • transparent objects 5 such as bottles or glasses
  • the transparent objects 5 weaken the light falling on the reference surface 6 and reflected back by scattering at the boundary surfaces and possibly by absorption, so that the presence or absence of the transparent object 5 can be inferred from the illuminance on the sensor 2.
  • a light axis 8 between the reference surface 6 and the sensor 2 shows the direction from which the light comes from the reference surface 6.
  • light from other reflecting objects 9 comes from another direction, which can be detected by using 2 an at least one-dimensional detector array as sensor 2.
  • Fig. 2 a situation is shown in which a reflective object 9 that is not to be detected is now in the beam path.
  • the distribution of the illuminance on the sensor 2 can be used to determine the direction from which the light is coming.
  • the direction of the light that originates from the reference surface 6 is given by a light axis 8 between the reference surface 6 and sensor 2, while the light reflected from the object 9 not to be detected over a light axis 10 between the reflective object 9 and sensor 2 the sensor 2 is projected.
  • This arrangement corresponds to an optical distance measurement according to triangulation.
  • About setting the A detection area 11 can now be defined in the distance range of the reference surface 6. Light from the detection area 11 is included in the determination, whereas light which comes from the area 12 is not included in the calculation of whether a transparent object 5 is located in the beam path.
  • Fig. 3 shows a typical line signal of a receiver line, in particular a CMOS sensor.
  • the light from the reference surface 6 (in Fig.1 and 2 ) is imaged onto the sensor 2 via a lens 3 and illuminates a few pixels.
  • the sensor 2 here has pixels 1 to n.
  • the brightest pixel which is denoted by k here, is used as the reference level and the distances to the neighboring pixels, here k-2 and k + 2, are used to examine the distribution of the illuminance and its change.
  • k the distances to the neighboring pixels
  • the invention enables a reliable optical detection of transparent objects 5, in which the subsequent attachment of the reference surface 6 can be dispensed with.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geophysics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Geophysics And Detection Of Objects (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Investigating Or Analysing Materials By Optical Means (AREA)

Claims (12)

  1. Procédé de détection optique d'objets au moins partiellement transparents, comprenant les étapes consistant à :
    - projeter un faisceau lumineux via une surface de référence (6) sur un capteur à résolution locale (2), l'objet au moins partiellement transparent à détecter (5) se trouvant au moins temporairement dans le faisceau lumineux (7) devant la surface de référence (6),
    - mesurer un éclairement et sa diffusion locale sur le capteur à résolution locale (2),
    - déterminer une distance de la surface de référence (6) et/ou de l'objet au moins partiellement transparent (5) à l'aide de la diffusion locale de l'éclairement et caractérisé par le fait de :
    - déterminer la présence ou l'absence de l'objet au moins partiellement transparent (5) au moyen de l'éclairement de quelques pixels du capteur à résolution locale (2), et de la diffusion locale de l'éclairement et de la distance de l'emplacement de la lumière réfléchie et/ou réémise du faisceau lumineux (7), qui rencontre le capteur (2).
  2. Procédé selon la revendication précédente, caractérisé en ce que la surface de référence (6) est une surface réfléchissante et/ou réémettante, en particulier une plaque métallique d'un objet d'aménagement ou de mobilier.
  3. Procédé selon l'une des revendications précédentes, caractérisé en ce que la distance de la surface de référence (6) du capteur (2) et/ou l'éclairement et sa diffusion locale sur le capteur (2) peuvent être enregistrés.
  4. Procédé selon l'une des revendications précédentes, caractérisé en ce que, dans un cycle de mesure, une source lumineuse (1) est allumée pour générer un faisceau lumineux (7), l'éclairement et sa diffusion locale sur le capteur (2) étant mesurés en tant que première valeur mesurée et en ce que, dans un cycle d'étalonnage, la source lumineuse (1) est éteinte, l'éclairement et sa diffusion locale sur le capteur (2) étant mesurés en tant que seconde valeur mesurée, la seconde valeur mesurée étant soustraite de la première valeur mesurée.
  5. Procédé selon l'une des revendications précédentes, caractérisé en ce que, pour déterminer la présence ou l'absence de l'objet en tant que niveau de référence, on utilise le niveau du pixel le plus clair du capteur (2) et pour évaluer les distances entre les signaux, on utilise des pixels voisins.
  6. Procédé selon l'une des revendications précédentes, caractérisé en ce que le capteur (2) est exécuté avec au moins un ensemble de détecteurs unidimensionnel, qui est exécuté de préférence en tant que capteur CMOS.
  7. Procédé selon l'une des revendications précédentes, caractérisé en ce que le capteur (2) est disposé avec la source lumineuse (1) dans un boîtier commun (4), de préférence dans un boîtier hermétiquement fermé (4).
  8. Procédé selon l'une des revendications précédentes, caractérisé en ce que la source lumineuse (1) est exécutée en tant que laser ou DEL.
  9. Procédé selon l'une des revendications précédentes, caractérisé en ce que des contenants transparents destinés à recevoir des boissons, de la nourriture ou des produits nettoyants sont détectés en tant qu'objets.
  10. Procédé selon l'une des revendications précédentes, caractérisé en ce qu'une zone de détection de référence (11) est définie en fixant une distance minimale et/ou une distance maximale de la surface de référence (6).
  11. Procédé selon l'une des revendications précédentes, caractérisé en ce que, lors du passage de l'objet au moins partiellement transparent (5), un signal de commutation est généré.
  12. Procédé selon l'une des revendications précédentes, caractérisé en ce que des valeurs limites d'éclairement des quelques pixels et/ou de la diffusion locale de l'éclairement et/ou de la distance de la surface de référence (6) sont lentement modifiées.
EP11002497.3A 2011-03-25 2011-03-25 Procédé de détection optique d'objets au moins partiellement transparents Active EP2503360B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP11002497.3A EP2503360B1 (fr) 2011-03-25 2011-03-25 Procédé de détection optique d'objets au moins partiellement transparents

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EP11002497.3A EP2503360B1 (fr) 2011-03-25 2011-03-25 Procédé de détection optique d'objets au moins partiellement transparents

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EP2503360A1 EP2503360A1 (fr) 2012-09-26
EP2503360B1 true EP2503360B1 (fr) 2020-08-19

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4215944A1 (fr) 2022-01-25 2023-07-26 Sick Ag Capteur optoélectronique et procédé de détection d'un objet

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USRE46672E1 (en) 2006-07-13 2018-01-16 Velodyne Lidar, Inc. High definition LiDAR system
US10627490B2 (en) 2016-01-31 2020-04-21 Velodyne Lidar, Inc. Multiple pulse, LIDAR based 3-D imaging
US12399279B1 (en) 2016-02-15 2025-08-26 Red Creamery Llc Enhanced hybrid LIDAR with high-speed scanning
US11556000B1 (en) 2019-08-22 2023-01-17 Red Creamery Llc Distally-actuated scanning mirror
US12123950B2 (en) 2016-02-15 2024-10-22 Red Creamery, LLC Hybrid LADAR with co-planar scanning and imaging field-of-view
US12399278B1 (en) 2016-02-15 2025-08-26 Red Creamery Llc Hybrid LIDAR with optically enhanced scanned laser
WO2017164989A1 (fr) 2016-03-19 2017-09-28 Velodyne Lidar, Inc. Éclairage et détection intégrés pour imagerie 3d basée sur lidar
CA3024510C (fr) 2016-06-01 2022-10-04 Velodyne Lidar, Inc. Lidar a balayage a pixels multiples
CN110914705B (zh) 2017-03-31 2024-04-26 威力登激光雷达美国有限公司 用于集成lidar照明功率控制的设备、系统和方法
WO2018208843A1 (fr) 2017-05-08 2018-11-15 Velodyne Lidar, Inc. Acquisition et commande de données lidar
US10712434B2 (en) 2018-09-18 2020-07-14 Velodyne Lidar, Inc. Multi-channel LIDAR illumination driver
US11082010B2 (en) 2018-11-06 2021-08-03 Velodyne Lidar Usa, Inc. Systems and methods for TIA base current detection and compensation
US11885958B2 (en) 2019-01-07 2024-01-30 Velodyne Lidar Usa, Inc. Systems and methods for a dual axis resonant scanning mirror

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JPH05209723A (ja) 1992-01-29 1993-08-20 Mitsui Toatsu Chem Inc 透明シートの厚さ測定方法
JP2000186910A (ja) 1998-12-21 2000-07-04 Yaskawa Electric Corp 光学式変位計
EP1496335A2 (fr) 2003-07-11 2005-01-12 Leuze electronic GmbH + Co KG Dispositif optoélectronique
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JPH05209723A (ja) 1992-01-29 1993-08-20 Mitsui Toatsu Chem Inc 透明シートの厚さ測定方法
JP2000186910A (ja) 1998-12-21 2000-07-04 Yaskawa Electric Corp 光学式変位計
EP1496335A2 (fr) 2003-07-11 2005-01-12 Leuze electronic GmbH + Co KG Dispositif optoélectronique
DE102006057878B4 (de) 2005-12-24 2008-09-25 Leuze Electronic Gmbh & Co Kg Verfahren zur Erfassung von Objekten mittels einer optoelektronischen Vorrichtung
EP2194397A1 (fr) 2008-12-08 2010-06-09 Sick Ag Procédé et capteur optique pour la détection d'objets

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4215944A1 (fr) 2022-01-25 2023-07-26 Sick Ag Capteur optoélectronique et procédé de détection d'un objet
DE102022101680A1 (de) 2022-01-25 2023-07-27 Sick Ag Optoelektronischer Sensor und Verfahren zum Erfassen eines Objekts
DE102022101680B4 (de) 2022-01-25 2023-09-21 Sick Ag Optoelektronischer Sensor und Verfahren zum Erfassen eines Objekts

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